WO2015139613A1 - 带有封闭刮条的擦窗机器人 - Google Patents
带有封闭刮条的擦窗机器人 Download PDFInfo
- Publication number
- WO2015139613A1 WO2015139613A1 PCT/CN2015/074385 CN2015074385W WO2015139613A1 WO 2015139613 A1 WO2015139613 A1 WO 2015139613A1 CN 2015074385 W CN2015074385 W CN 2015074385W WO 2015139613 A1 WO2015139613 A1 WO 2015139613A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- scraper
- cleaning robot
- strip
- suction cup
- window cleaning
- Prior art date
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Classifications
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L1/00—Cleaning windows
- A47L1/02—Power-driven machines or devices
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
Definitions
- the invention relates to a window cleaning robot with a closed scraper, belonging to the technical field of household small electrical appliances manufacturing.
- FIG. 1 is a schematic view showing the structure of the long strip scraper of the existing window cleaning robot.
- the base 200 of the existing window cleaning robot 100 is provided with a driving wheel 300 and a suction cup 400.
- a long strip of silicone strip 500 is also typically provided on the base 200 for scraping water from the glass to prevent the drive wheel 300 from slipping due to contact with water, while also preventing the suction cup 400 from being wetted by water.
- the existing silicone strip has a long strip structure, it is only effective to scrape water in one direction, that is, a direction perpendicular to the direction in which the strips are arranged, if the window cleaning robot rotates to a direction in which the strips are arranged. If they are parallel to each other, the water cannot be wiped, and the drive wheel 300 will still slip due to water.
- the technical problem to be solved by the present invention is to provide a window cleaning robot with a closed scraper, which is provided as a closed whole body, and the closed scraper is pressed when the robot is attracted to the window. Tight, the strip separates the inside from the outside. No matter how the robot walks, it can achieve 360° wiper. The water in any direction will be blocked by the scraper and will not enter the inside of the scraper, effectively preventing the drive wheel and the suction cup from being trapped. Wet and wipe the water better, effectively preventing the machine from slipping.
- a window cleaning robot with a closed scraper includes a rotating base body and an outer frame, the rotating base body is rotatably disposed on the outer frame, a bottom of the outer frame is provided with a cleaning unit, and the rotating base body is provided with a walking unit and
- the suction cup has a scraper on the bottom surface of the rotating base, and the scraper is surrounded by a closed shape on the bottom surface of the rotating base, and the walking unit and/or the suction cup are enclosed in the closed shape.
- the height of the strip is higher than the height of the walking unit.
- the walking unit is a roller or a crawler running mechanism as needed.
- the first scraper strip and the second scraper strip are respectively a plurality, and the number of the set is respectively different from the setting of the walking unit and the suction cup The number corresponds.
- the scraper is 0.01 mm to 1 mm higher than the running unit.
- the outer frame is square.
- the scraper strip of the present invention is arranged as a closed whole.
- the closing scraper is pressed, and the scraper separates the inside from the outside, regardless of how the robot walks. 360° wiper, the water in any direction will be blocked by the scraper and will not enter the inside of the scraper, effectively preventing the drive wheel and the sucker from being wetted, and the wiper effect is better, effectively preventing the machine from slipping or the suction cup being polluted by water stains. .
- FIG. 1 is a schematic structural view of a long strip scraper of a conventional window cleaning robot
- FIG. 2 is a schematic structural view of a bottom portion of a body according to an embodiment of the present invention.
- Figure 3 is a partial structural view of the scraper of the present invention.
- Figure 4 is a schematic view showing the connection structure of the scraper strip and the rotating base
- FIG. 5 is a schematic structural view of a bottom body of a second embodiment of the present invention.
- FIG. 2 is a schematic view showing the structure of a bottom portion of a body according to an embodiment of the present invention.
- the present invention provides a window cleaning robot with a closed scraper, comprising a rotating base 10 and an outer frame 20.
- the rotating base 10 is rotatably disposed on the outer frame 20, and the outer frame 20 is square (but Not limited to square, it can be set to other shapes according to the needs of the cleaning work surface).
- a cleaning unit 21, such as a rag, is disposed at the bottom of the outer frame 20.
- the rotating base 10 is provided with a walking unit 11 and a suction cup 12.
- the bottom surface of the rotating base is further provided with a scraper 13 which is arranged in a closed shape on the bottom surface of the rotating base 10.
- the height of the scraper 13 is higher than the height of the walking unit 11, and the scraper 13 is 0.01 mm to 1 mm higher than the running unit 11 in order to ensure the anti-slip effect.
- the wiper strip 13, the traveling unit 11 and the suction cup 12 are of the same height, that is, all three are in contact with the work surface.
- the walking unit 11 may be a roller as needed Or crawler walking mechanism.
- the suction cup 12 is connected to a vacuum pump through a hose, and the vacuum pump works to form a negative pressure in the suction cup, so that the window cleaning robot is attracted to the working surface.
- FIG. 3 is a schematic view showing the structure of the scraper strip of the present invention
- FIG. 4 is a schematic view showing the connection structure of the scraper strip and the rotating base.
- the rotating base 10 is provided with a groove 14, and the side wall of the groove 14 is provided with a convex plate 141, and the fixed ends of the scraping strip 13 are concave on both sides.
- the groove 130 is engaged in the concave groove 130.
- the wiper strip 13 forms a complete closed shape, and the walking unit 11 and the suction cup 12 are completely enclosed therein to be separated from the outer space of the wiper strip 13.
- its walking mode includes straight walking and in-situ steering. Specifically, when the window cleaning robot works along the direction of the glass frame, the movement mode of the straight line is adopted; when the window cleaning robot encounters the glass top angle, the rotating base body is turned to the original position of the frame, and then returns to the frame. Straight walking state.
- the scraped strip 13 can be isolated by the closed scraper 13 regardless of the direction in which the stain or scale of the working surface is encountered. The outside thereof does not have any influence on the walking unit 11 and the suction cup 12.
- FIG. 5 is a schematic structural view of a bottom body of a second embodiment of the present invention.
- the scraper strip may be a complete closed shape as described in the first embodiment, or may be divided into a plurality of complete closed shapes.
- the scraper strip 13 may be There is a first scraper 131 and a second scraper 132.
- the first scraper 131 is disposed around the outer circumference of the walking unit 11
- the second scraper 132 is disposed around the outer circumference of the suction cup 12 .
- the first scraper strip and the second scraper strip may also be respectively plural, and the number of the corresponding ones respectively correspond to the set number of the walking unit and the suction cup.
- the traveling unit 11 and the suction cup 12 are also closed by the scraping strip, which is different from the foregoing embodiment in that the traveling unit 11 and the suction cup 12 are respectively enclosed.
- the walking unit and the suction cup are enclosed.
- only the walking unit can be enclosed to prevent the robot from slipping, or the suction cup can be enclosed to prevent it.
- the scraper strip of the present invention is arranged as a closed whole.
- the robot is attracted to the window, since the closed structure is adopted, and the height of the scraper is higher than the height of the walking unit, when the window cleaning robot adsorbs On the surface of the window, the scraper is pressed to separate the enclosed interior from the outside. No matter how the window cleaning robot walks, it can wipe 360°. The water in any direction will be blocked by the scraper and will not enter the scraping.
- the inner wetted walking unit 11 and the suction cup 12 have better wiping effect, and effectively prevent the window cleaning robot from slipping or the suction cup being polluted by water stains.
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- Nozzles For Electric Vacuum Cleaners (AREA)
Abstract
Description
Claims (9)
- 一种带有封闭刮条的擦窗机器人,包括旋转基体(10)和外框(20),所述旋转基体可旋转设置在外框上,所述外框底部设有清洁单元(21),所述旋转基体上设有行走单元(11)和吸盘(12),所述旋转基体底面上还设有刮条(13),其特征在于,所述刮条(13)在旋转基体底面围设成一封闭形状,所述行走单元(11)和/或吸盘(12)被围设在所述封闭形状内。
- 如权利要求1所述的擦窗机器人,其特征在于,所述刮条(13)的高度高于所述行走单元(11)的高度。
- 如权利要求2所述的擦窗机器人,其特征在于,所述刮条(13)具有第一刮条(131)和第二刮条(132),所述第一刮条(131)围设在所述行走单元(11)的外周,所述第二刮条(132)围设在所述吸盘(12)的外周。
- 如权利要求3所述的擦窗机器人,其特征在于,所述行走单元(11)为滚轮或履带行走机构。
- 如权利要求4所述的擦窗机器人,其特征在于,所述第一刮条(131)和第二刮条(132)分别为多个,其设置数量分别与行走单元(11)和吸盘(12)的设置数量相对应。
- 如权利要求1至5任一项所述的擦窗机器人,其特征在于,所述刮条(13)比所述行走单元(11)高0.01mm~1mm。
- 如权利要求1所述的擦窗机器人,其特征在于,所述旋转基体(10)上设有凹槽(14),凹槽侧壁设有凸板(141),所述刮条(13)的固定端两侧呈凹形槽(130),所述凸板(141)卡合在所述凹形槽(130)中。
- 如权利要求1所述的擦窗机器人,其特征在于,所述吸盘(12)通过软管与真空泵相连,真空泵工作使吸盘内形成负压,使所述擦窗机器人吸附在作业表面。
- 如权利要求1所述的擦窗机器人,其特征在于,所述外框(20)为方形。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US15/126,556 US10213073B2 (en) | 2014-03-17 | 2015-03-17 | Window-cleaning robot provided with closed wiper |
EP15764648.0A EP3120743B1 (en) | 2014-03-17 | 2015-03-17 | Window-cleaning robot provided with closed wiper |
JP2017500117A JP6586156B2 (ja) | 2014-03-17 | 2015-03-17 | 閉じたワイパが設けられた窓清掃ロボット |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201410098719.3 | 2014-03-17 | ||
CN201410098719.3A CN104921655B (zh) | 2014-03-17 | 2014-03-17 | 带有封闭刮条的擦窗机器人 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2015139613A1 true WO2015139613A1 (zh) | 2015-09-24 |
Family
ID=54109351
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/CN2015/074385 WO2015139613A1 (zh) | 2014-03-17 | 2015-03-17 | 带有封闭刮条的擦窗机器人 |
Country Status (5)
Country | Link |
---|---|
US (1) | US10213073B2 (zh) |
EP (1) | EP3120743B1 (zh) |
JP (1) | JP6586156B2 (zh) |
CN (1) | CN104921655B (zh) |
WO (1) | WO2015139613A1 (zh) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN106821152A (zh) * | 2017-01-17 | 2017-06-13 | 郑明珠 | 智能滚筒抹布擦地扫地清洁机器人 |
Families Citing this family (6)
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US9215962B2 (en) * | 2014-03-13 | 2015-12-22 | Ecovacs Robotics, Inc. | Autonomous planar surface cleaning robot |
CN106923733B (zh) * | 2015-12-29 | 2021-01-29 | 科沃斯机器人股份有限公司 | 自移动吸附机器人 |
CN109875467B (zh) * | 2017-12-06 | 2021-06-22 | 上海茂塔实业有限公司 | 机械脚、幕墙清洗机器人及幕墙清洗机器人的行走方法 |
CN114532886A (zh) * | 2022-01-30 | 2022-05-27 | 山西嘉世达机器人技术有限公司 | 一种清洁器 |
CN114916857A (zh) * | 2022-04-29 | 2022-08-19 | 深圳市银舍创新科技有限公司 | 一种单轮行走机构和表面清洁设备及其行走方式 |
CN115211748A (zh) * | 2022-09-20 | 2022-10-21 | 山西嘉世达机器人技术有限公司 | 一种清洁机 |
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- 2015-03-17 JP JP2017500117A patent/JP6586156B2/ja active Active
- 2015-03-17 EP EP15764648.0A patent/EP3120743B1/en active Active
- 2015-03-17 US US15/126,556 patent/US10213073B2/en active Active
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Publication number | Priority date | Publication date | Assignee | Title |
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CN106821152A (zh) * | 2017-01-17 | 2017-06-13 | 郑明珠 | 智能滚筒抹布擦地扫地清洁机器人 |
CN106821152B (zh) * | 2017-01-17 | 2022-03-01 | 郑明珠 | 智能滚筒抹布擦地扫地清洁机器人 |
Also Published As
Publication number | Publication date |
---|---|
US20170079487A1 (en) | 2017-03-23 |
EP3120743B1 (en) | 2021-03-03 |
CN104921655A (zh) | 2015-09-23 |
JP2017510402A (ja) | 2017-04-13 |
CN104921655B (zh) | 2017-12-22 |
EP3120743A4 (en) | 2017-12-13 |
JP6586156B2 (ja) | 2019-10-02 |
EP3120743A1 (en) | 2017-01-25 |
US10213073B2 (en) | 2019-02-26 |
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